A navigator for navigating to a specified pose. More...

#include <nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp>

Inheritance diagram for nav2_bt_navigator::NavigateToPoseNavigator:

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Public Types
using	ActionT = nav2_msgs::action::NavigateToPose

Public Types inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >
using	Ptr = std::shared_ptr< nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose > >

Public Member Functions
	NavigateToPoseNavigator ()
	A constructor for NavigateToPoseNavigator.

bool	configure (nav2::LifecycleNode::WeakPtr node, std::shared_ptr< nav2_util::OdomSmoother > odom_smoother) override
	A configure state transition to configure navigator's state. More...

bool	cleanup () override
	A cleanup state transition to remove memory allocated.

void	onGoalPoseReceived (const geometry_msgs::msg::PoseStamped::SharedPtr pose)
	A subscription and callback to handle the topic-based goal published from rviz. More...

std::string	getName () override
	Get action name for this navigator. More...

std::string	getDefaultBTFilepath (nav2::LifecycleNode::WeakPtr node) override
	Get navigator's default BT. More...

Public Member Functions inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >
	BehaviorTreeNavigator ()
	A Navigator constructor.

virtual	~BehaviorTreeNavigator ()=default
	Virtual destructor.

bool	on_configure (nav2::LifecycleNode::WeakPtr parent_node, const std::vector< std::string > &plugin_lib_names, const FeedbackUtils &feedback_utils, nav2_core::NavigatorMuxer *plugin_muxer, std::shared_ptr< nav2_util::OdomSmoother > odom_smoother) final
	Configuration to setup the navigator's backend BT and actions. More...

bool	on_activate () final
	Activation of the navigator's backend BT and actions. More...

bool	on_deactivate () final
	Deactivation of the navigator's backend BT and actions. More...

bool	on_cleanup () final
	Cleanup a navigator. More...

Protected Member Functions
bool	goalReceived (ActionT::Goal::ConstSharedPtr goal) override
	A callback to be called when a new goal is received by the BT action server Can be used to check if goal is valid and put values on the blackboard which depend on the received goal. More...

void	onLoop () override
	A callback that defines execution that happens on one iteration through the BT Can be used to publish action feedback.

void	onPreempt (ActionT::Goal::ConstSharedPtr goal) override
	A callback that is called when a preempt is requested.

void	goalCompleted (typename ActionT::Result::SharedPtr result, const nav2_behavior_tree::BtStatus final_bt_status) override
	A callback that is called when a the action is completed, can fill in action result message or indicate that this action is done. More...

bool	initializeGoalPose (ActionT::Goal::ConstSharedPtr goal)
	Goal pose initialization on the blackboard. More...

Protected Member Functions inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >
bool	onGoalReceived (typename ActionT::Goal::ConstSharedPtr goal)
	An intermediate goal reception function to mux navigators.

void	onCompletion (typename ActionT::Result::SharedPtr result, const nav2_behavior_tree::BtStatus final_bt_status)
	An intermediate completion function to mux navigators.

virtual bool	activate ()
	Method to activate any threads involved in execution.

virtual bool	deactivate ()
	Method to deactivate and any threads involved in execution.

Protected Attributes
rclcpp::Time	start_time_

nav2::Subscription< geometry_msgs::msg::PoseStamped >::SharedPtr	goal_sub_

nav2::ActionClient< ActionT >::SharedPtr	self_client_

std::string	goal_blackboard_id_

std::string	path_blackboard_id_

std::shared_ptr< nav2_util::OdomSmoother >	odom_smoother_

Protected Attributes inherited from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >
std::unique_ptr< nav2_behavior_tree::BtActionServer< nav2_msgs::action::NavigateToPose, nav2::LifecycleNode > >	bt_action_server_

rclcpp::Logger	logger_

rclcpp::Clock::SharedPtr	clock_

FeedbackUtils	feedback_utils_

NavigatorMuxer *	plugin_muxer_

Detailed Description

A navigator for navigating to a specified pose.

Definition at line 38 of file navigate_to_pose.hpp.

Member Function Documentation

◆ configure()

bool nav2_bt_navigator::NavigateToPoseNavigator::configure	(	nav2::LifecycleNode::WeakPtr	node,
		std::shared_ptr< nav2_util::OdomSmoother >	odom_smoother
	)

overridevirtual

A configure state transition to configure navigator's state.

Parameters

node	Weakptr to the lifecycle node
odom_smoother	Object to get current smoothed robot's speed

Reimplemented from nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >.

Definition at line 25 of file navigate_to_pose.cpp.

References getName(), and onGoalPoseReceived().

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◆ getDefaultBTFilepath()

std::string nav2_bt_navigator::NavigateToPoseNavigator::getDefaultBTFilepath ( nav2::LifecycleNode::WeakPtr node )

overridevirtual

Get navigator's default BT.

Parameters

node	WeakPtr to the lifecycle node

Returns: string Filepath to default XML

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >.

Definition at line 59 of file navigate_to_pose.cpp.

◆ getName()

std::string nav2_bt_navigator::NavigateToPoseNavigator::getName ( )

inlineoverridevirtual

Get action name for this navigator.

Returns: string Name of action server

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >.

Definition at line 75 of file navigate_to_pose.hpp.

Referenced by configure().

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◆ goalCompleted()

void nav2_bt_navigator::NavigateToPoseNavigator::goalCompleted	(	typename ActionT::Result::SharedPtr	result,
		const nav2_behavior_tree::BtStatus	final_bt_status
	)

overrideprotectedvirtual

A callback that is called when a the action is completed, can fill in action result message or indicate that this action is done.

Parameters

result	Action template result message to populate
final_bt_status	Resulting status of the behavior tree execution that may be referenced while populating the result.

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >.

Definition at line 97 of file navigate_to_pose.cpp.

◆ goalReceived()

bool nav2_bt_navigator::NavigateToPoseNavigator::goalReceived ( ActionT::Goal::ConstSharedPtr goal )

overrideprotectedvirtual

A callback to be called when a new goal is received by the BT action server Can be used to check if goal is valid and put values on the blackboard which depend on the received goal.

Parameters

goal	Action template's goal message

Returns: bool if goal was received successfully to be processed

Implements nav2_core::BehaviorTreeNavigator< nav2_msgs::action::NavigateToPose >.

Definition at line 83 of file navigate_to_pose.cpp.

References initializeGoalPose().

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◆ initializeGoalPose()

bool nav2_bt_navigator::NavigateToPoseNavigator::initializeGoalPose ( ActionT::Goal::ConstSharedPtr goal )

protected

Goal pose initialization on the blackboard.

Parameters

goal	Action template's goal message to process

Returns: bool if goal was initialized successfully to be processed

Definition at line 217 of file navigate_to_pose.cpp.

Referenced by goalReceived(), and onPreempt().

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◆ onGoalPoseReceived()

void nav2_bt_navigator::NavigateToPoseNavigator::onGoalPoseReceived ( const geometry_msgs::msg::PoseStamped::SharedPtr pose )

A subscription and callback to handle the topic-based goal published from rviz.

Parameters

pose	Pose received via atopic

Definition at line 261 of file navigate_to_pose.cpp.

Referenced by configure().

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The documentation for this class was generated from the following files:

nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp
nav2_bt_navigator/src/navigators/navigate_to_pose.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ configure()

◆ getDefaultBTFilepath()

◆ getName()

◆ goalCompleted()

◆ goalReceived()

◆ initializeGoalPose()

◆ onGoalPoseReceived()